Navigate to a given point using the OGM and virtual forces

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

Revisions of main.cpp

Revision Date Message Actions
:e57ebcf747dc 3 months agofull of isnan() and other weird debugging stuff File  Diff  Annotate
:fb07065a64a9 3 months agochanged set_target so it is in ortho frame, relative to the robot (ex: if the robot is in the middle, you want to him to go 10cm down and 15 right, set_target_to(15,-10) ) File  Diff  Annotate
:e2bd06f94dc0 3 months agoadjusted the main, tweaked calculate line File  Diff  Annotate
:ffd5a6d4dd48 4 months agocarefull the + and minus are inverted, the khapas must be adjusted File  Diff  Annotate
:ab25bffdc32b 4 months agochanged the code to not rely on global variables because it's heresy File  Diff  Annotate
:39157b310975 4 months agominor tweak; File  Diff  Annotate
:f5e212d9f900 4 months agotweaked a few thing, maybe check the math beetween compute_line and go_to_line File  Diff  Annotate
:dd8326ec75ce 4 months agofixed a bunch of issues concerning the target, the robot is still going on the right for some reason, maybe check the line computation File  Diff  Annotate
:3c9f8cbf5250 4 months agofixed a calcul mistake on how to put the target coordinates in an orthonormal frame, added a few comments here and there File  Diff  Annotate
:462d19bb221f 4 months agogoing to the other direction File  Diff  Annotate
:c806c568720a 4 months agotweaked compute_forceX_and_forceY to do all the computation in an orthogonal frame File  Diff  Annotate
:c8f224ab153f 4 months agojust tweaked staring position and target; File  Diff  Annotate
:128fc7aed957 4 months agolowered speed, corrected pointers, tweaked xOrtho, yOrtho and X, Y that were causing problems; tried some constants but they are not good File  Diff  Annotate
:78139f82ea74 4 months agoadded:; - line calculation function; - go to line function; - vff function, that calls all the calculation functions, computes the velocities, moves the robot and checks if it has arrived; ; tweaked main to call the correct methods; ; TODO check constants File  Diff  Annotate
:d51928b58645 4 months agomade the function to compute the force and changed the variables for the 120x90 arena File  Diff  Annotate
:352be78e1aad 4 months agoI guess this code is fine for putting in the report (I tweaked the variables for a 250x250cm arena and a 20x20cells map File  Diff  Annotate
:95d8d3e2b81b 5 months agotarget_angle now is double File  Diff  Annotate
:224e9e686f7b 5 months agolab version, with working pi/2 flip File  Diff  Annotate
:f884979a02fa 5 months agoadded the odometria at the start of go_to_point, and wrote a quick do a flip fct but i have nt tested it File  Diff  Annotate
:07bde633af72 5 months agochanged and adjusted stuff, print map with robot work, modified go to point for it to do a pi flip if in danger zone but it s not working :/ File  Diff  Annotate
:b020cf253059 5 months agoshortened go_to_point_with_angle a little bit File  Diff  Annotate
:572c9e9a8809 5 months agofixed a few things, and I did print_final_map_with_robot if you want to check where odometria thinks the robot is in the map File  Diff  Annotate
:8f4b820d8de8 5 months agothe file from the afternoon File  Diff  Annotate
:901fc468b8a7 5 months agocleaned up and shortened the go_to_point_with_angle method File  Diff  Annotate
:ebb37a249b5f 5 months agoStill TODOs waiting to be closed File  Diff  Annotate
:62154d644531 5 months agocleanup; File  Diff  Annotate
:6a9062d54eb0 5 months agotestAfterMerge File  Diff  Annotate
:dbc5fbad4975 5 months agogroundwork and clean structure, needs to actually do the equations in computeObstacle File  Diff  Annotate
:6a3b14e284ee 6 months agoadded a small delay between the new positions - but it doesn't work, it's just spinning File  Diff  Annotate
:caf393b63e27 6 months agoadded the random x,y,? and the infinite loop File  Diff  Annotate
:ff73cc7b3156 6 months agomaybe merged the stuff, will see File  Diff  Annotate
:44ab4626f1ad 6 months agoprint mms; File  Diff  Annotate
:d58f2bdbf42e 6 months agochanged the too-close behaviour to break the while immediately File  Diff  Annotate
:41f75c132135 6 months agoadded the setup function calls for the sonars File  Diff  Annotate
:3c0ca2350624 6 months agocorrected the inputs again :P File  Diff  Annotate
:e641aa08c92e 6 months agogetSonarValues v1 and clean code File  Diff  Annotate
:a7fd80e79e80 6 months agodeleted theta from function inputs File  Diff  Annotate
:b7138acdf4ac 6 months agoadded target_angle in the function File  Diff  Annotate
:109314be5b68 6 months agoproper functions File  Diff  Annotate
:c94070f9af78 6 months agoFinal values kappa; File  Diff  Annotate
:afde4b08166b 6 months agofunctional shit; File  Diff  Annotate
:dea05b8f30d0 6 months agov2 with nice kappas kappa File  Diff  Annotate
:8c56c3ba6e54 6 months agoGoToPoint Nearly Working File  Diff  Annotate
:1e0f4cb93eda 6 months agoit should work :P File  Diff  Annotate
:ea61e801e81f 6 months agoadded clear comments File  Diff  Annotate
:f0807d5c5a4b 6 months agotest Commit File  Diff  Annotate
:8bffb51cc345 6 months agoWorking File  Diff  Annotate